#include "global.h"
#include <string>
//Display
const bool CAMERA_3DSCENE_FOLLOWS_ROBOT = false;
#if MRPT_HAS_WXWIDGETS
const bool SHOW_3D_LIVE = true;
#else
const bool SHOW_3D_LIVE = false;
#endif

//Simulation
const int N_STEPS_STOP_AT_THE_BEGINNING = 4;
const float SIZE_STEP_S = 0.5;
const unsigned int nSteps = 500;

//Landmark generation and map size
unsigned int nLandmarks = 70;
const float min_x = -15;
const float max_x = 15;
const float min_y = -15;
const float max_y = 15;


//Log saving
const unsigned int SAVE_LOG_FREQUENCY = 1;
const bool SAVE_3D_SCENES = false;
const bool SAVE_MAP_REPRESENTATIONS = false;

std::string OUT_DIR = "OUT_KF-SLAM";

//Robot speed
const double max_speed = 2; //m/s
const double max_turn_rate = 1; //rad/s
const double min_speed = 0.0;//m/s
const double min_turn_rate = -1; //rad/s

//Odometry Error per Step (defined by SIZE_STEP_S)
const float odometryNoiseXY_std = 0.05f;
const float odometryNoisePhi_std_deg = 0.05f;

const float minSensorDistance = 0.5f;
const float maxSensorDistance = 7.0f;
const float fieldOfView_deg = 360.0f;
const float stdRange = 1.0f;
const float stdYaw_deg = 10.0f;

//Robot State Thresholds
extern const float maxStateTrace = 0.75f;
extern const float maxLMTrace = 0.75f;
